JP2719967B2 - Moving equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a moving device used for, for example, a manipulator.

[Prior art] Conventionally, servo motors, hydraulics,
A device that reciprocates a moving object by using a pneumatic cylinder is widely known.

That is, in the case of a structure using a servomotor, for example, as shown in FIG. 3, a guide table B is disposed on the body A, a slider C is mounted on the guide table B so as to be movable up and down, and a bearing D is disposed below the body A. Then, the moving shaft E is inserted into the bearing portion D so as to be movable up and down, the upper portion of the moving shaft E is connected to the guide table B, and a mounting mechanism and a holding mechanism (not shown) are provided at the lower portion of the moving shaft E. The moving body W, in this case, a lifting object is connected, the mounting bracket F is mounted on the guide base B, the connecting member G is mounted on the mounting bracket F, the rack H is mounted on the connecting member G, and the pinion I is meshed with the rack H. Then, the supporting roller J is brought into contact with the connecting member G, the pinion I is rotated by the servo motor K, and the moving body W is driven to reciprocate.

For example, in the case of a structure using a cylinder mechanism,
As shown in the drawing, a pneumatic cylinder L is attached to the body A, a rod of the pneumatic cylinder L is connected to the slider C, and the moving object W is reciprocated.

[Problems to be Solved by the Invention] However, among the above-mentioned conventional structures, in the case of a structure using a cylinder mechanism, it is difficult to control speed and position as an inherent problem. ^{Due to the addition of (2),} a high-output device is required, which results in a large, heavy, and expensive device, which has disadvantages in terms of the device, miniaturization, and economic efficiency.

Means for Solving the Problems An object of the present invention is to solve these inconveniences. The gist of the present invention is to provide a cylinder mechanism for reciprocating a moving object, a servomotor capable of controlling rotation, and A motion conversion mechanism capable of converting the rotation of the servo motor into a linear motion of the moving object is provided.The motion conversion mechanism includes a reverse motion prevention mechanism, and the servo motor rotates while operating the cylinder mechanism. Then, the moving body is lowered by the cylinder mechanism under the control of the rotation of the servomotor, and when the servomotor is stopped, the reverse movement prevention mechanism is activated to stop the moving body from lowering. A moving device characterized by comprising a servomotor and a cylinder mechanism such that when the motor is rotated in reverse, the object to be moved is raised by the cylinder mechanism while being controlled to rotate in the reverse direction of the servomotor. It is in.

[Operation] The rotation of the servomotor is converted into a linear motion of the moving object by a motion converting mechanism including a reverse movement preventing mechanism, and the moving object reciprocates by a cylinder mechanism according to the rotation state of the servomotor.

[Embodiment] FIGS. 1 and 2 show an embodiment in which the present invention is applied to a lifting device. Reference numeral 1 denotes an airframe, in which a guide base 2 is provided on an airframe 1, and a slider 3 is mounted on the guide base 2. Is mounted on the lower part of the body 1, and a moving shaft 5 is inserted into the bearing 4 so as to be vertically movable, and the upper part of the moving shaft 5 is connected to the guide table 2, A moving mechanism W, in this case, a lifting object, is connected to a moving mechanism W by arranging a mounting mechanism and a holding mechanism (not shown) at a lower portion of the moving member 5.

Reference numeral 6 denotes a cylinder mechanism.
Of the pneumatic cylinder 7 is attached to the connecting member 10 by a pin 11, and the rod 7a of the pneumatic cylinder 7 is attached to the connecting member 10 by a pin 11. ing.

Reference numeral 12 denotes a servomotor, which may be an AC servomotor, a DC servomotor, a pulse motor, or the like. Reference numeral 13 denotes a motion conversion mechanism.In this case, a rack 14 is attached to the connection member 10, the pinion 15 is meshed with the rack 14, the support roller 16 is brought into contact with the connection member 10, and the rotation of the pinion 15 This is converted into linear motion.

Reference numeral 17 denotes a reverse movement preventing mechanism, which uses an automatic shrinking action between the worm 18 and the worm wheel 19, that is, when the lead angle γ ≦ the friction angle ρ, the worm wheel 19
The effect that 18 can not be turned is used,
A worm 18 is attached to a main shaft 20 of the servomotor 12, and the worm wheel 19 is attached to an intermediate shaft 21 of a pinion 15 provided in the machine body 1.

In this embodiment, since the servomotor 12 is rotated while constantly pushing the rod 7a downward in FIG. 1 by the cylinder mechanism 6, for example, the moving object descends with the rotation of the servomotor 12. The moving object W moves by the length according to the rotation amount of the servo motor 12, moves at the speed according to the rotation speed of the servo motor 12, and stops when the servo motor 12 stops, so that the moving object W Will stop,
When the servomotor 12 is rotated in reverse while the rod 7a is constantly pushed upward by the cylinder mechanism 6, the moving body W rises with the reverse rotation of the servomotor 12, that is, the movement, stop, and speed of the moving body W are controlled by servo. The control can be performed depending on the rotation, stop, and number of rotations of the motor 12, and the moving force of the moving object W can be achieved by the cylinder mechanism 6. Therefore, a low-output, small-sized and inexpensive servomotor 12 can be used. In addition, a large propulsive force of the moving object W can be obtained, and a small-sized moving device having high output and high controllability can be obtained.

In the above embodiment, the present invention is applied to a lifting device, but can be used for other moving devices.

Although the so-called rack-and-pinion mechanism is employed as the reverse movement prevention mechanism 17 in the above-described embodiment, a structure employing a one-way crack mechanism capable of switching the transmission direction can also be used. You.

[Effects of the Invention] As described above, according to the present invention, the movement, stop, and speed of a moving object can be controlled depending on the rotation, stop, and rotation speed of a servomotor, and the moving force of the moving object is controlled by a cylinder mechanism. In other words, the moving object can be reciprocated in accordance with the rotation state of the servo motor, so that a low-power, small-sized, inexpensive servo motor can be used, and a large propulsive force of the moving object can be obtained. Thus, a mobile device having high output and high controllability can be obtained.

As described above, the intended purpose can be sufficiently achieved.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is an explanatory front view, FIG. 2 is an explanatory side view, FIG. 3 is an explanatory front view of a conventional structure, and FIG. 4 is another conventional structure. It is explanatory front view of. 6 ... Cylinder mechanism, 12 ... Servo motor, 13 ... Motion conversion mechanism, 17 ... Backward prevention mechanism, W ... Moved object.

Claims (1)

(57) [Claims] A cylinder mechanism for reciprocating a moving object;
A cylinder having a rotation controllable servomotor and a motion conversion mechanism capable of converting the rotation of the servomotor into a linear motion of the moving object; When the servomotor is rotated while operating the mechanism, the moving body is controlled by the rotation of the servomotor, and the moving body is lowered by the cylinder mechanism.When the servomotor is stopped, the reverse movement prevention mechanism is operated and the moving body is stopped from lowering. A moving device comprising a servo motor and a cylinder mechanism configured such that when a servo motor is rotated in reverse while a cylinder mechanism is operated in reverse, the servo motor is controlled to rotate in the reverse direction and the moving body is lifted by the cylinder mechanism.